Infrastructure-based vehicle management

ABSTRACT

A vehicle can be detected approaching a limited operation zone of a travel area. It can be determined that the vehicle is able to execute wireless commands from a computer. The object can be identified within the limited operation zone. Based on identifying the object within the limited operation zone, the vehicle can be controlled by providing a control command via wireless communications, the control command including whether the vehicle is permitted to enter the limited operation zone.

BACKGROUND

A vehicle that operates autonomously or semi-autonomously depends onsensors for automated operation. For example, vehicle sensors can detectan object near the vehicle. Detecting an object can result in a vehicleoperation such as braking or accelerating, turning, modifying a plannedor current path of travel, etc. However, if an object and/or futureportion of a travel path is not within the field of view, or isobstructed within a field of view, of a vehicle sensor, then vehicleoperations can be impaired.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of a traffic management system.

FIG. 2 is a top view of a traffic scene for which the traffic managementsystem could be implemented.

FIG. 3 is another example of a top view of the traffic scene for whichthe traffic management system could be implemented.

FIG. 4 is a process flow diagram of an example process for the trafficmanagement system.

DESCRIPTION

With reference to FIGS. 1-3, a traffic management system 100 can beprovided to manage a traffic area. The traffic management system 100 caninclude one or more infrastructure nodes 102 to monitor and/or providecontrol messages to one or more vehicles 112 in the traffic area. Forexample, if vehicle sensors 118 are blocked or obstructed from a portionof the traffic area, an infrastructure node 102 can provide a controlmessage to assist the vehicle 112 in planning and/or executing a path.Further, the infrastructure node 102 can detect objects in the trafficarea, e.g., pedestrians and/or vehicles 112 lacking communicationcapability, and can accordingly provide control messages to vehicles 112that do have communication capability. For example, vehicles 112 and/orother devices can communicate wirelessly, e.g., using protocols thatprovide for direct communication and/or via a communication network 110.

An infrastructure node 102 can include one or more infrastructuresensors 104, an infrastructure communication module 106, and a computer,the infrastructure node 102 computer including a processor and a memory,the memory storing instructions executable by the processor. Theinstructions in an infrastructure node 102 computer typically includeinstructions to detect a vehicle 112 approaching a limited operationzone 132 of a travel area 126; determine that the vehicle 112 is able toexecute wireless commands from the computer; identify an object withinthe limited operation zone 132; and, based on identifying the objectwithin the limited operation zone 132, control the vehicle 112 byproviding a control command via wireless communications, the controlcommand including whether the vehicle 112 is permitted to enter thelimited operation zone 132.

Accordingly, described herein is system, comprising a computer thatincludes a processor and a memory, the memory storing instructionsexecutable by the processor. The instructions include instructions todetect a vehicle approaching a limited operation zone of a travel area.The instructions further include instructions to determine that thevehicle is able to execute wireless commands from the computer. Theinstructions further include instructions to identify an object withinthe limited operation zone. The instructions further includeinstructions to, based on identifying the object within the limitedoperation zone, control the vehicle by providing a control command viawireless communications, the control command including whether thevehicle is permitted to enter the limited operation zone.

The instructions can further include instructions to determine that thevehicle is unable to execute the wireless commands from the computer,and to then suppress the control command to the vehicle.

The instructions can further include instructions to determine that theobject within the limited operation zone is unable to receive thewireless commands from the computer, wherein the control command thenincludes a directive for the vehicle to halt prior to entering thelimited operation zone.

The instructions can further include instructions to determine that theidentified object within the limited operation zone, and any secondobject identified in the limited operation zone, is able to execute thewireless commands from the computer, wherein the control command thenincludes a permission to enter the limited operation zone.

The instructions can further include instructions to determine alocation of the object, wherein the control command includes a directiveto follow a path to avoid the location of the object. The location ofthe object can be a location on a predicted path of the object.

The instructions can further include instructions to determine a type ofthe object, wherein the control command is based in part on the type ofthe object.

The instructions can further include instructions to determine that thelimited operation zone is unoccupied, wherein the control of the vehicleincludes permitting the vehicle to enter the limited operation zonebased on the limited operation zone being unoccupied.

The instructions can further include instructions to detect the vehiclefrom data provided from a stationary sensor.

The instructions can further include instructions to identify the objectfrom a wireless transmission from a device co-located with the object.

The object can be a human user, and the device co-located with theobject can be a portable computing device.

The object can be a second vehicle, and the device co-located with theobject can be a vehicle communication module.

A method comprises detecting a vehicle approaching a limited operationzone of a travel area; determining that the vehicle is able to executewireless commands from a computer; identifying an object within thelimited operation zone; and based on identifying the object within thelimited operation zone, controlling the vehicle by providing a controlcommand via wireless communications, the control command includingwhether the vehicle is permitted to enter the limited operation zone.

The method can further comprise determining that the vehicle is unableto execute the wireless commands from the computer, and then suppressingthe control command to the vehicle.

The method can further comprise determining that the object within thelimited operation zone is unable to receive the wireless commands fromthe computer, wherein the control command then includes a directive forthe vehicle to halt prior to entering the limited operation zone.

The method can further comprise determining that the identified objectwithin the limited operation zone, and any second object identified inthe limited operation zone, is able to execute the wireless commandsfrom the computer, wherein the control command then includes apermission to enter the limited operation zone.

The method can further comprise determining a location of the object,wherein the control command includes a directive to follow a path toavoid the location of the object.

The method can further comprise determining a type of the object,wherein the control command is based in part on the type of the object.

The method can further comprise determining that the limited operationzone is unoccupied, wherein the control of the vehicle includespermitting the vehicle to enter the limited operation zone based on thelimited operation zone being unoccupied.

The method can further comprise detecting the vehicle from data providedfrom a stationary sensor.

Continuing with reference to FIG. 1, the infrastructure node 102computer may be configured for communicating via the infrastructurecommunication module 106 with various devices, including a vehiclecommunication module 122, e.g., through a vehicle 112 to vehicle (V2V)or vehicle-to-infrastructure or everything (V2X), vehicle-to-everythingincluding cellular vehicle-to-everything (CV2X) wireless communications(cellular and/or DSRC., etc.) to another vehicle 112, to anotherinfrastructure node and/or a remote server (not shown). Theinfrastructure communication module 106 could include one or moremechanisms for communication with other devices (including vehiclecommunication modules 122 by which the computers 116 of vehicles 112 maycommunicate), including any desired combination of wireless (e.g.,cellular, wireless, satellite, microwave and radio frequency)communication mechanisms and any desired network topology (or topologieswhen a plurality of communication mechanisms are utilized). exemplarycommunications provided via the module can include cellular, Bluetooth,IEEE 802.11, dedicated short range communications (DSRC), cellular V2X(C-V2X), and the like.

An infrastructure node 102 can include a variety of infrastructuresensors 104. A “sensor” is a device that can obtain one or moremeasurements of one or more physical phenomena. Some sensors detect theexternal world, for example, radar sensors, scanning laser rangefinders, light detection and ranging (LIDAR) devices, and imageprocessing sensors such as cameras. A LIDAR device detects distances toobjects by emitting laser pulses and measuring the time of flight forthe pulse to travel to the object and back. Sensor operation can beaffected by obstructions, e.g., dust, snow, insects, etc. Often, but notnecessarily, a sensor includes a digital-to-analog converter toconverted sensed analog data to a digital signal that can be provided toa digital computer, e.g., via a network. Sensors can include a varietyof devices, and can be disposed to sense and environment, provide dataabout a machine, etc., in a variety of ways. For example, aninfrastructure sensor 104 could be mounted to a stationaryinfrastructure node 102 on, over, or near a traffic area 126 (see FIGS.2-3), e.g., including a road. A vehicle sensor 118 could be mounted inor on a vehicle 112. Further, other sensors, in or on a vehicle 112,stationary infrastructure node 102, etc., could include cameras, shortrange radar, long range radar, LIDAR, and/or ultrasonic transducers,weight sensors, accelerometers, motion detectors, etc., i.e., sensors toprovide a variety of data. To provide just a few non-limiting examples,sensor data could include data for determining a position of acomponent, a location of an object, a speed of an object, a type of anobject, a slope of a roadway, a temperature, a presence or amount ofmoisture, a fuel level, a data rate, etc.

The infrastructure computer 108 includes a processor and a memory suchas are known. The memory includes one or more forms of computer readablemedia, and stores instructions executable by the infrastructure computer108 for performing various operations, including as disclosed herein.For example, the infrastructure computer 108 can be a generic computerwith a processor and memory as described above and/or may include adedicated controller for a specific function or set of functions, and/ora dedicated electronic circuit including an ASIC that is manufacturedfor a particular operation, e.g., an ASIC for processing sensor dataand/or communicating the sensor data. In another example, computer mayinclude an FPGA (Field-Programmable Gate Array) which is an integratedcircuit manufactured to be configurable by a user. Typically, a hardwaredescription language such as VHDL (Very High Speed Integrated CircuitHardware Description Language) is used in electronic design automationto describe digital and mixed-signal systems such as FPGA and ASIC. Forexample, an ASIC is manufactured based on VHDL programming providedpre-manufacturing, whereas logical components inside an FPGA may beconfigured based on VHDL programming, e.g. stored in a memoryelectrically connected to the FPGA circuit. In some examples, acombination of processor(s), ASIC(s), and/or FPGA circuits may beincluded in a computer. The memory can be of any type, e.g., hard diskdrives, solid state drives, servers, or any volatile or non-volatilemedia. The memory can store the collected data sent from theinfrastructure sensors 104. The memory can be a separate device from theinfrastructure computer 108, and the infrastructure computer 108 canretrieve information stored by the memory via a network.

The infrastructure computer 108 can use the infrastructure communicationmodule 106 to communicate via a communication network 110. A computercan be programmed to communicate with one or more remote sites such as aserver, via a communication network 110. The communication network 110can include one or more mechanisms by which a vehicle computer 116 maycommunicate with, for example, a remote server. Accordingly, the networkcan include one or more of various wired or wireless communicationmechanisms, including any desired combination of wired (e.g., cable andfiber) and/or wireless (e.g., cellular, wireless, satellite, microwave,and radio frequency) communication mechanisms and any desired networktopology (or topologies when multiple communication mechanisms areutilized). exemplary communication networks 110 include wirelesscommunication networks 110 (e.g., using Bluetooth®, Bluetooth® LowEnergy (BLE), IEEE 802.11, vehicle 112-to-vehicle 112 (V2V) or vehicle112 to everything (V2X) such as cellular V2X (CV2X), Dedicated ShortRange Communications (DSRC), etc.), local area networks (LAN) and/orwide area networks (WAN), including the Internet, providing datacommunication services.

As stated above, the traffic management system 100 can be provided forone or more vehicles 112. A vehicle 112 may be any suitable type ofground vehicle 112, e.g., an electric cart, a warehouse vehicle 112 suchas a forklift, a passenger or commercial automobile such as a sedan, acoupe, a truck, a sport utility, a crossover, a van, a minivan, a taxi,a bus, a motorcycle, a bicycle, etc. Some of the vehicles 112 mayinclude respective vehicle computers 116 that receive data from vehiclesensors 118. Further, the vehicle computer 116 and/or a human operatormay provide input to various vehicle subsystems 120, e.g., a navigationsystem, a braking system, propulsion system, and/or steering system. Avehicle 112 can include a vehicle communication module 122 forcommunicating with other vehicles 112, devices and/or an infrastructurenode 102.

A vehicle network 114 can include a conventional vehicle 112communications bus such as a CAN bus, LIN bus, etc., and/or couldinclude other wired and/or wireless technologies, e.g., Ethernet,Wi-Fi®, cellular, Bluetooth®, Bluetooth® Low Energy (BLE), etc. Via thenetwork, bus, and/or other wired or wireless mechanisms (e.g., a wiredor wireless local area network in the vehicle 112). Accordingly, avehicle computer 116, ECU etc., may transmit messages to various devicesin a vehicle 112 and/or receive messages from the various devices, e.g.,ECUs, controllers, actuators, sensors, etc.

A vehicle computer 116 includes a processor and a memory such as areknown, and can communicate via the vehicle network 114. The computer canbe a generic computer with a processor and memory as described aboveand/or may include an electronic control unit (ECU) or controller for aspecific function or set of functions. Alternatively or additionally, incases where the computer actually comprises a plurality of devices, thevehicle 112 communication network 110 may be used for communicationsbetween devices represented as the computer in this disclosure. Further,as mentioned below, various controllers and/or sensors may provide datato the computer via the vehicle network 114.

The vehicle sensors 118 can communicate on the vehicle network 114 withvarious vehicle 112 components such as the vehicle computer 116. Thevehicle sensors 118 are similar to the infrastructure sensors 104 andtherefore other than the following will not be described separately toavoid repetition. Some vehicle sensors 118 detect internal states of thevehicle 112, for example, wheel speed, wheel orientation, and engine andtransmission variables. Some sensors detect the position or orientationof the vehicle 112, for example, global positioning system (GPS)sensors; accelerometers such as piezo-electric or microelectromechanicalsystems (MEMS); gyroscopes such as rate, ring laser, or fiber-opticgyroscopes; inertial measurements units (IMU); and magnetometers.Moreover, various controllers in a vehicle 112 may operate as sensors toprovide data via the vehicle network 114 or bus, e.g., data relating tovehicle 112 speed, acceleration, location, subsystem and/or componentstatus, etc.

As mentioned above, vehicle subsystems 120 can include a navigationsystem. The navigation system can be implemented via circuits, chips, orother electronic components that can determine a present location of thevehicle 112. The navigation system may be implemented via asatellite-based system such as the Global Positioning System (GPS)and/or could include real-time-kinematic (RTK) positioning. Thenavigation system may triangulate the location of the vehicle 112 basedon signals received from various satellites in the Earth's orbit. Thenavigation system is programmed to output signals representing thepresent location of the vehicle 112, e.g., the computer via a vehicle112 communication network 110. In some instances, the navigation systemis programmed to determine a route from the present location of thevehicle 112 to a future location. The navigation system may access a mapstored in memory and develop the route according to the map data. Insome examples, the navigation system may also send a request to a serverremote from the vehicle 112 to calculate a route to a future locationand download it to the vehicle 112. The map in any event may includedata specifying lanes of roads of the map, e.g., including turn lanes, adirection of traffic flow for the lanes, a speed limit, etc.

Further, in examples where the traffic management system 100 isimplemented inside a building or structure, a vehicle 112 navigationsystem could use an indoor positioning system (IPS) that could includevarious suitable mechanisms to allow the vehicle computer 116 todetermine a location of the vehicle 112. For example, a vehicle computer116 could detect, e.g. via a vehicle communication module 122, anelectronic signal from an infrastructure node 102, such as Wi-Fi,Bluetooth, ultra-wideband, etc., and/or could detect landmarks providedin a travel area 126, such as magnets, QR codes, infrared-visiblemarkers, etc. Whether a vehicle 112 is outdoors using GPS or indoorsusing an IPS, a vehicle computer 116 could supplement these in anavigation with conventional techniques such as simultaneous locationand mapping (SLAM) and/or dead-reckoning. Alternatively or additionally,the technique such as SLAM could be used alone.

The propulsion system included in vehicle subsystems 120 may include oneor more of an internal combustion engine, electric motor, hybrid engine,etc.

The steering system included in vehicle subsystems 120 controls theturning of the wheels. The steering system is in communication with andreceives input from a steering wheel and/or a vehicle computer 116. Thesteering system may include a rack-and-pinion system with electricpower-assisted steering, a steer-by-wire system, e.g., such as areknown, or any other suitable system.

The braking system resists the motion of the vehicle 112 to thereby slowand/or stop the vehicle 112. The braking system may include frictionbrakes such as disc brakes, drum brakes, band brakes, and so on;regenerative brakes; any other suitable type of brakes; or acombination. The braking system is in communication with and receivesinput from the computer and/or a human driver. The human driver maycontrol the braking system via, e.g., a brake pedal.

The vehicle communication module 122 can communicate on a vehiclenetwork 114 with various vehicle 112 components such as a vehiclecomputer 116, vehicle sensors 118, etc., and can communicate viawireless communications with entities outside the vehicle 112. Thevehicle communication module 122 is otherwise similar to theinfrastructure communication module 106 and therefore will not befurther described to avoid repetition.

Turning to FIGS. 2 and 3, a traffic scene 124 includes a travel area126. A travel area 126 herein means any ground surface designated fortravel of a vehicle 112. For example, a travel area 126 can include afloor of a building, e.g., of a building corridor, plant floor, etc. Atravel area 126 could include a surface of a parking structure ofparking lot, or of a road, i.e., a prepared travel surface, e.g., gradeddirt, asphalt, gravel, etc. A travel area 126 can include markings,e.g., paint, embedded markers, etc. to guide vehicle 112 travel, e.g.,in one or more lanes. A travel area 126 can include more than one lanefor vehicle 112 travel; each lane can be designated for travel in aspecified direction. A travel area 126 can further include anintersection of two pathways, e.g., roads or corridors.

A traffic scene 124 can include various objects including one or morevehicles 112 and one or more stationary objects 130 and one or moremobile objects 128, all disposed on a travel area 126. An object hereinmeans a physical, i.e., material, item that can be detected by humansenses and or sensors 104, 118. Vehicles 112 are mobile objects 128, butare assigned separate reference numbers for clarity of disclosure.Likewise, an infrastructure node 102 is a stationary object 130 assigneda separate reference number for clarity of the disclosure. The trafficscene 124 can include objects proximate and/or adjacent to the travelarea 126, including stationary objects 130 such as one or moreinfrastructure nodes 102, and, as seen in FIG. 3, a stationary object130 proximate to an intersection of two pathways of a travel area 126.

A travel area 126 can include a limited operation zone 132. A limitedoperation zone 132 is a defined portion of a travel area 126 for or inwhich specified rules for vehicle 112 operation may be implemented. Alimited operation zone 132 can be defined by location coordinates, e.g.,according to a geo-fence or the like. For example, coordinate accordingto a global coordinate system specifying latitude and longitudecoordinates for the planet earth could be used, and/or coordinates froma local coordinate system, e.g., mapping locations of a building,structure, etc., could be used. Alternatively or additionally, a limitedoperation zone 132 could be implemented using indicia provided in atraffic scene 124, e.g., signs or markings on a near a travel surface soas to be detectable by vehicle sensors 118, by a radio beacon or thelike, e.g., an infrastructure node 102 could provide radio-frequencyidentification or the like.

A mobile object 128 in or on a travel area 126 may or may not be avehicle 112. For example, FIGS. 2 and 3 include a mobile object that isnot a vehicle 112, in addition to vehicles 112A, 112B, 112C. A vehicle112 may or may not be equipped with vehicle sensors 118. Assuming that avehicle 112 includes one or more vehicle sensors 118, the vehiclesensors 118 can detect objects within a field of view 134. A field ofview 134 of a sensor is an area or volume within which the sensor candetect objects. That is, the field of view 134 can provide aline-of-sight 136 to an object. For example, in the traffic scene 124shown in FIG. 2, the vehicle 112B has at least one vehicle sensor 118with a field of view 134 including a line-of-sight 136 to a mobileobject 128 on the travel surface. However, in the traffic scene 124shown in FIG. 2, the one or more vehicle sensors 118 of the vehicle 112Bhave a field of view with no line-of-sight 136 to the mobile object 128,because the field of view 134 is limited by an obstructing stationaryobject 130. However, as further illustrated in FIG. 3, theinfrastructure node 102 does have a line-of-sight 136 from at least oneinfrastructure sensor 104 to the mobile object 128.

The infrastructure computer 108 can include programming to detect amobile object 128 such as a vehicle 112 approaching a limited operationzone 132 of a travel area 126. IN the illustration of FIGS. 2 and 3, thevehicle 112C is approaching the limited operation zone 126.“Approaching” in this context means that the object 128 is outside thelimited operation zone 132, and that a distance of the mobile object 128from the limited operation zone 132 is detected to be decreasing overtime and/or an intent of the object 128 to enter the limited operationzone 132 can be determined.

An infrastructure sensor 104 such as a radar or a lidar can provide datafor an infrastructure computer 108 to determine that the mobile object128 is approaching the limited operation zone 132. Alternatively oradditionally, a mobile object 128 such as a vehicle 112 including avehicle communication module 122 could send a message, e.g., using anysuitable V2X communication protocol, that is receivable by theinfrastructure communication module 106 specifying that the vehicle 112is approaching the limited operation zone 132. The message couldadditionally include other information, such as a type of vehicle 112propulsion (e.g., electric, internal combustion, human powered, etc.),and sensing and control capabilities of the vehicle 112, e.g., whetherthe vehicle 112 is equipped with vehicle sensors 118 to detect mobileobjects 128 and/or stationary objects 130 and whether the vehicle 112includes a vehicle computer 116 that can implement control commands Inthe present context, a control command to a vehicle 112 is a command tocontrol vehicle subsystems 120 such as propulsion, braking and steering,including control commands provided by the infrastructure computer 108,typically via the infrastructure communication module 106.

Based on a message from a vehicle 112 and/or some other mechanism, theinfrastructure computer 108 can determine that the vehicle 112 is ableto execute wirelessly received control commands from the infrastructurecomputer 108. For example, another mechanism could be a marking orindicia on the vehicle 112 detectable by an infrastructure cameraspecifying that the vehicle 112 is or is not capable of accepting andexecuting control commands from the infrastructure computer 108. Thatis, upon detecting and decoding a marking, e.g., using conventionalpattern recognition techniques to identify markings such as QR CODES®,block letters, image icons, etc., the infrastructure computer 108 coulddetermine that a vehicle 112 is, or alternatively is not, capable ofreceiving and executing control commands Further, an infrastructuresensor 104 could provide an image of a vehicle 112, and theinfrastructure computer 108 could use conventional pattern recognitiontechniques to identify a type of vehicle 112, and then determine, e.g.,determine that the vehicle 112 is or is not capable of accepting andexecuting wireless control commands

The infrastructure computer 108 can further determine whether an objectsuch as the mobile object 128 shown in FIGS. 2 and 3 is present in thelimited operation zone 132. If so, the infrastructure computer 108 canidentify the object, e.g., according to an object type. In this manner,the infrastructure computer 108 can identify an object within thelimited operation zone 132. Further, the infrastructure computer 108 mayfurther be able to determine a location and/or orientation of vehicles112 and other objects including mobile objects 128 in a travel area 126.For example, the infrastructure computer 108 could receive data frominfrastructure sensors 104 and utilize suitable techniques for poseestimation, e.g., according to known algorithms that use one or more oftwo-dimensional color image (RGB) data, a point cloud (i.e., includingdepth data such as lidar data or time-of-flight data), or a combinedRGB-D sensor. In one example, the infrastructure computer 108 couldreceive two-dimensional data and using suitable techniques, such as YOLO(you-only-look-once) or faster-RCNN algorithms, make an initial postdetermination, and then and refine the initial determination based onthe 3D point cloud data, e.g., using Iterative Closest Point (ICP) orNormal Distributions Transform (NDT) techniques.

In the present context, an object type specifies whether the object is amobile object 128 or a stationary object 130, and, if the object is amobile object 128, whether the object is capable of receiving andexecuting control commands In object type could further classify anobject, e.g., a mobile object 128 could be classified as human-poweredor machine powered, as non-vehicle (e.g., pedestrian) or vehicle, etc.As explained above, an object type could be determined by infrastructuresensor 104 data, e.g., by the infrastructure computer 108 using patternrecognition techniques to identify an object, e.g., a type of theobject, from an image acquired by the infrastructure sensor 104.Further, an object type of a vehicle 112 able to accept control commandscould be determined by communication between the infrastructurecommunication module 106 and the vehicle communication module 122, e.g.,the vehicle 112 could send or broadcast a message specifying its vehicle112 type and/or capability of receiving and executing control commandsThe infrastructure computer 108 could store a lookup table or the likeassociating indicia provided on or affixed to mobile objects with anobject type, and or associating a determination that a pattern in animage is classified as a certain object, e.g., a pedestrian, a humanpushcart, a human-operated cart or equipment, etc., with an object type,e.g., not capable of receiving and executing control commands Further,the infrastructure computer 108 could be programmed to determine that anobject type includes being not capable of receiving and executingcontrol commands at the infrastructure computer 108 is unable toidentify an object and/or a type of the object.

Based on identifying a mobile object 128 within the limited operationzone 132, and if the vehicle 112 is determined to be capable ofaccepting control commands, then the infrastructure computer can controla vehicle 112 by providing a control command via wirelesscommunications. However, if the infrastructure computer 108 determinesthat the vehicle 112 is unable to execute the wireless commands from thecomputer, the infrastructure computer 108 can then suppress the controlcommand to the vehicle 112.

If the vehicle 112 approaching a limited operation zone 132 isdetermined to be able to accept control commands, then the controlcommand can include whether the vehicle is permitted to enter thelimited operation zone 132, i.e., the control command can specify thatthe vehicle is or is not permitted to enter the limited operation zone132. For example, if the infrastructure computer determines that themobile object within the limited operation zone 132 is unable to receivethe wireless commands from the computer, a control command can theninclude a directive, i.e., a message including a command, for thevehicle 112 to halt prior to entering the limited operation zone 132.Further for example, If the infrastructure computer 108 determines thatan identified mobile object 128 within the limited operation zone 132,and any second object identified in the limited operation zone 132, isable to execute the wireless control commands from the infrastructurecomputer 108, the infrastructure computer 108 can then provide to thevehicle 112 a control command that includes a permission or directive toenter the limited operation zone 132.

The infrastructure computer 108 could determine a present and/orpredicted future location of an object such as a mobile object 128 inthe limited operations zone. For example, the infrastructure computer108 could store a map, e.g., according to a local or global coordinatesystem such as described above, of the limited operation zone 132. Theinfrastructure computer 108 could determine a location of an objectusing stationary infrastructure sensors 104, e.g., stereo cameras,radar, lidar, etc., whereby a distance of an object from aninfrastructure node 102 in the direction of the distance could bedetermined using suitable techniques for interpreting sensor data.Further, the infrastructure computer 108 could predict a path of amobile object 128, e.g., based on a current speed and heading of themobile object 128. Additionally, the infrastructure computer 108 couldpredict multiple possible future locations for a mobile object 128,e.g., where the mobile object 128 is approaching an intersection oftravel paths in the limited operation zone 132 and could turn in oneand/or another direction and/or go straight.

Alternatively or additionally, a mobile object 128 and possibly itslocation and/or predicted future location(s) could be identified from awireless transmission from a device co-located with the object. Forexample, a movable object could broadcast or send its location and/orintended path including one or more future locations to theinfrastructure node 102. For example, a human user could carry aportable computing device 125 such as a smartphone, tablet, or the likethat could include an application to transmit a location of the smartphone receivable by the infrastructure node 102, e.g., according to awireless protocol such as Bluetooth or the like. Based on a determinedlocation of an object in the limited operation zone 132, theinfrastructure computer 108 could then provide a control command to avehicle 112 including a directive to follow a path to avoid the locationof the object. For example, the infrastructure computer could specify alocation or locations for a vehicle 112 to avoid and/or could specify apath for the vehicle to follow to avoid the location or locations of amobile object 128.

Further, in one example, the infrastructure computer 108 could providecontinuing, e.g., real-time, control for a vehicle 112 as the vehicle112 traveled through a limited operation zone 132. For example, theinfrastructure computer 108 could determine a collision-free path forthe vehicle 112 through the limited operation zone 132 based on datafrom infrastructure sensors 104, and could then provide commands to thevehicle 112 to follow the path, adjusting the path in real-time or nearreal-time based on further infrastructure sensor 104 data.

A control command from the infrastructure computer 108 to a vehicle 112can be based on a type of object. As mentioned above, as a thresholdstep, the infrastructure computer 108 can determine whether a mobileobject 128 in a limited operation zone 132 is a type of the object thatcan accept a control command For example, the computer could determinethat the mobile object 128 is a vehicle 112. The infrastructure computer108 could then determine that the vehicle 112 is able to accept acontrol command, e.g., by indicia on the vehicle 112 and/or receiving ordetecting a communication from the vehicle 112, e.g., as describedabove. Further, the infrastructure computer 108 could similarlydetermine that the mobile object 128 is a vehicle 112 but is not able toreceive a control command For example, if a type of vehicle 112 is anunpowered cart, a powered cart operated by the human operator, theinfrastructure computer 108 may determine that the vehicle 112 is notable to receive and execute a control command Yet further, if a type ofobject is a bicycle or pedestrian, the infrastructure computer 108 maydetermine that the vehicle 112 is not able to receive and execute acontrol command.

The infrastructure computer 108 could determine, upon detecting avehicle 112 approaching a limited operation zone 132, that the limitedoperation zone 132 is unoccupied. Based on the limited operations onbeing unoccupied, the infrastructure computer 108 could determine toallow the vehicle 112 to enter the limited operation zone 132, and couldprovide a control command accordingly.

Table 1 below provides an example of determinations that could be madeby the infrastructure computer 108, and control commands that theinfrastructure computer 108 could provide, or alternatively oradditionally could determine to suppress, based on determining apresence and/or type of a mobile object 128 upon a vehicle 112approaching a limited operation zone 132.

TABLE 1 Determination(s) Control command(s) Mobile object in limitedoperation zone cannot Halt prior to entering limited operation zoneaccept control command and cannot predict and wait (e.g., specifiedamount of time or path based on object type until further command toallow mobile object to clear the zone) Mobile object in limitedoperation zone Enter limited operation zone with path and/ cannot acceptcontrol commands but can or speed restrictions predict mobile objectpath or location based on object type Mobile object in limited operationzone can Enter limited operation zone (could include accept controlcommand path and/or speed restrictions) Limited operation zone isunoccupied Enter limited operation zone First approaching vehicle cannotreceive Suppress control command to approaching control commands.vehicle; halt or slow other vehicles approaching limited operation zoneuntil first vehicle clears the zone.

FIG. 4 is a process flow diagram of an example process 150 for thetraffic management system 100. The process 150 may be executed in aninfrastructure computer 108. It is to be appreciated that the process150 is provided as an example, and that a different order of stepsand/or different steps could be within the scope and spirit of thepresent disclosure.

The process 150 begins in a decision block 152, in which theinfrastructure computer 108 determines whether it detects an approachingvehicle 112. That is, the decision block 152 represents a scanning ormonitoring process in which the infrastructure computer 108 receivesdata from infrastructure sensors 104 and/or the infrastructurecommunication module 106 indicating an approaching vehicle 112 asdescribed above. If an approaching vehicle 112 is detected, then theprocess 150 proceeds to a block 154. Otherwise, the process 150 remainsin the block 152.

In the decision block 154, the infrastructure computer 108 determineswhether the vehicle 112 detected in the block 152 can receive andexecute control commands If not, the infrastructure computer 108suppresses control commands to the vehicle 112, and returns to the block152. If so, the process 150 proceeds to a block 156.

In the decision block 156, the infrastructure computer 108 determineswhether an object such as a mobile object 128 is present in the limitedoperation zone 132, e.g., a mobile object 128 as explained above. Ifyes, the process 150 proceeds to a block 158. If no, the process 150proceeds to a block 162.

In the block 158, the infrastructure computer 108 can identify theobject, typically including at least a type of the object as describedabove.

Next, in a decision block 160, the infrastructure computer 108determines, based on a detected mobile object 128 in the limitedoperation zone 132, whether the vehicle 112 detected in the block 152can proceed into the limited operation zone 132. For example, asexplained above, based on a detected type of object, e.g., a pedestrian,bicycle, human operated cart, etc., the infrastructure computer 108could determine that the vehicle 112 should not proceed into the limitedoperation zone 132, whereupon the process 150 proceeds to a block 162.On the other hand, the infrastructure computer 108 could determine thatthe vehicle 112 may proceed into the limited operation zone 132,whereupon the process 150 proceeds to a block 164.

In the block 162, infrastructure computer 108 determines a halt commandfor the vehicle 112. For example, the vehicle 112 could be commanded tohalt until a further control command, whereupon the process 150 wouldthen return to the decision block 156. Alternatively, the infrastructurecomputer 108 could determine to provide a halt command, and, based on apredicted path of the mobile object 128 in the limited operation zone132, provide a time at which the vehicle 112 could resume motion, afterwhich the process 150 could return to the block 156 or alternatively,although not illustrated, could proceed to a decision block 166.

In the block 164, the infrastructure computer 108 determines a controlcommand for the vehicle 112 to proceed. For example, the infrastructurecomputer 108 could simply command the vehicle 112 to proceed based on anintended or predicted path for the vehicle 112, and/or based on thevehicle 112 determining its path in the limited operation zone 132taking into account the mobile object 128. As another example, asdescribed above, the control command could specify for the vehicle 112to proceed with a modified or adjusted path and/or speed. Following theblock 164, the process 150 proceeds to a block 166.

In the block 166, the infrastructure computer 108 determines whether theprocess 150 is to continue, e.g., the process 150 could be limited tospecified times of day, could be activated or deactivated based on userinput, etc. thus, the process 150 can either continue in the block 152,or can end following the block 166.

The term “exemplary ” is used herein in the sense of signifying anexample, e.g., a reference to an “exemplary widget” should be read assimply referring to an example of a widget.

Use of “in response to,” “based on,” and “upon determining” hereinindicates a causal relationship, not merely a temporal relationship.

In the drawings, the same reference numbers indicate the same elements.Further, some or all of these elements could be changed. With regard tothe media, processes, systems, methods, etc. described herein, it shouldbe understood that, although the steps of such processes, etc. have beendescribed as occurring according to a certain ordered sequence, suchprocesses could be practiced with the described steps performed in anorder other than the order described herein. It further should beunderstood that certain steps could be performed simultaneously, thatother steps could be added, or that certain steps described herein couldbe omitted. In other words, the descriptions of processes herein areprovided for the purpose of illustrating certain embodiments, and shouldin no way be construed so as to limit the claimed invention.

The disclosure has been described in an illustrative manner, and it isto be understood that the terminology which has been used is intended tobe in the nature of words of description rather than of limitation. Manymodifications and variations of the present disclosure are possible inlight of the above teachings, and the disclosure may be practicedotherwise than as specifically described. The present invention isintended to be limited only by the following claims.

1. A system, comprising a computer that includes a processor and amemory, the memory storing instructions executable by the processor,including instructions to: detect a vehicle approaching a limitedoperation zone of a travel area; determine that the vehicle is able toexecute wireless commands from the computer; identify an object withinthe limited operation zone; and based on identifying the object withinthe limited operation zone, control the vehicle by providing a controlcommand via wireless communications, the control command includingwhether the vehicle is permitted to enter the limited operation zone. 2.The system of claim 1, the instructions further including instructionsto determine that the vehicle is unable to execute the wireless commandsfrom the computer, and to then suppress the control command to thevehicle.
 3. The system of claim 1, the instructions further includinginstructions to determine that the object within the limited operationzone is unable to receive the wireless commands from the computer,wherein the control command then includes a directive for the vehicle tohalt prior to entering the limited operation zone.
 4. The system ofclaim 1, the instructions further including instructions to determinethat the identified object within the limited operation zone, and anysecond object identified in the limited operation zone, is able toexecute the wireless commands from the computer, wherein the controlcommand then includes a permission to enter the limited operation zone.5. The system of claim 1, the instructions further includinginstructions to determine a location of the object, wherein the controlcommand includes a directive to follow a path to avoid the location ofthe object.
 6. The system of claim 5, wherein the location of the objectis a location on a predicted path of the object.
 7. The system of claim1, the instructions further including instructions to determine a typeof the object, wherein the control command is based in part on the typeof the object.
 8. The system of claim 1, the instructions furtherincluding instructions to determine that the limited operation zone isunoccupied, wherein the control of the vehicle includes permitting thevehicle to enter the limited operation zone based on the limitedoperation zone being unoccupied.
 9. The system of claim 1, theinstructions further including instructions to detect the vehicle fromdata provided from a stationary sensor.
 10. The system of claim 1, theinstructions further including instructions to identify the object froma wireless transmission from a device co-located with the object. 11.The system of claim 10, wherein the object is a human user, and thedevice co-located with the object is a portable computing device. 12.The system of claim 10, wherein the object is a second vehicle, and thedevice co-located with the object is a vehicle communication module. 13.A method, comprising: detecting a vehicle approaching a limitedoperation zone of a travel area; determining that the vehicle is able toexecute wireless commands from a computer; identifying an object withinthe limited operation zone; and based on identifying the object withinthe limited operation zone, controlling the vehicle by providing acontrol command via wireless communications, the control commandincluding whether the vehicle is permitted to enter the limitedoperation zone.
 14. The method of claim 13, further comprisingdetermining that the vehicle is unable to execute the wireless commandsfrom the computer, and then suppressing the control command to thevehicle.
 15. The method of claim 13, further comprising determining thatthe object within the limited operation zone is unable to receive thewireless commands from the computer, wherein the control command thenincludes a directive for the vehicle to halt prior to entering thelimited operation zone.
 16. The method of claim 13, further comprisingdetermining that the identified object within the limited operationzone, and any second object identified in the limited operation zone, isable to execute the wireless commands from the computer, wherein thecontrol command then includes a permission to enter the limitedoperation zone.
 17. The method of claim 13, further comprisingdetermining a location of the object, wherein the control commandincludes a directive to follow a path to avoid the location of theobject.
 18. The method of claim 13, further comprising determining atype of the object, wherein the control command is based in part on thetype of the object.
 19. The method of claim 13, further comprisingdetermining that the limited operation zone is unoccupied, wherein thecontrol of the vehicle includes permitting the vehicle to enter thelimited operation zone based on the limited operation zone beingunoccupied.
 20. The method of claim 13, further comprising detecting thevehicle from data provided from a stationary sensor.